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Fix/defence algo - #119

Merged

energy-in-joles merged 154 commits into

mainfrom

fix/defence-algo

Jun 4, 2026

Merged

Fix/defence algo#119
energy-in-joles merged 154 commits into
mainfrom
fix/defence-algo

Commits on Nov 26, 2025
- feat: referee support in rsim
  isaac0804
  committed
  9720dc1
- hotfix: self.name bug
  isaac0804
  committed
  4cff935
Commits on Feb 18, 2026
- Merge branch 'main' into referee_integration
  isaac0804
  committed
  ac7ffb0
- feat: receive complete referee data and use it in strategy runner
  isaac0804
  committed
  3f6b0d9
- feat: referee command nodes and test
  isaac0804
  committed
  27850b1
Commits on Mar 13, 2026
- fix: make RefereeData.__eq__ actually override tuple equality; fix test bugs
  
  isaac0804
  and
  claude
  committed
  ec2558b
- merge: resolve conflicts from main into referee_integration
  
  isaac0804
  and
  claude
  committed
  08af954
Commits on Mar 29, 2026
- improved some defence interactions + added new tests
  fred-huang122
  committed
  ed5a176
Commits on Mar 31, 2026
- Add custom referee integration and profile rename
  isaac0804
  committed
  769a8a6
- Fix referee runner startup and keep-out behavior
  isaac0804
  committed
  5c0b05a
- Scale referee actions with field geometry
  isaac0804
  committed
  626ef22
- Fix referee restart progression and clearance
  isaac0804
  committed
  d4adaeb
- Fix custom referee demo wiring and status messages
  isaac0804
  committed
  a0b120d
- Show referee source details in live status
  isaac0804
  committed
  2250a92
Commits on Apr 3, 2026
- Add referee behaviour integration tests and unit test coverage
  
  isaac0804
  and
  claude
  committed
  5d757c1
- Use public Field class properties instead of private constants
  
  isaac0804
  and
  claude
  committed
  b683f39
- Default headless=True, skip ball teleport when placement pending, document future work
  
  isaac0804
  and
  claude
  committed
  f6f1297
- Document end-to-end ball placement test as future work
  
  isaac0804
  and
  claude
  committed
  aa4974a
- Remove advanced controls (penalty & ball placement) from referee GUI
  
  isaac0804
  and
  claude
  committed
  15aa391
- Add three future work items to referee integration docs
  
  isaac0804
  and
  claude
  committed
  c148b34
Commits on Apr 7, 2026
- Fix three bugs identified in Copilot review
  
  isaac0804
  and
  claude
  committed
  cb6b176
- Update utama_core/custom_referee/state_machine.py
  
  isaac0804
  and
  Copilot
  authored
  5282cc2
- Address second round of Copilot review comments
  
  isaac0804
  and
  claude
  committed
  cc1b187
Commits on Apr 8, 2026
- chore: cleanup
  fred-huang122
  committed
  da75567
- Merge remote-tracking branch 'origin/main' into fix/defence-algo
  fred-huang122
  committed
  6694f39
Commits on Apr 14, 2026
- fix: stage_time_left now updates every frame in RefereeRefiner
  
  isaac0804
  and
  claude
  committed
  9d6b8ea
- fix: increase BALL_KEEP_OUT_DISTANCE to 0.8 m to prevent restart violation loop
  
  isaac0804
  and
  claude
  committed
  6c265ab
- Merge origin/main into referee_integration
  
  isaac0804
  and
  claude
  committed
  3125309
- fix: adapt referee code to FieldDimensions API and arbitrary field sizes
  
  isaac0804
  and
  claude
  committed
  2040685
- fix: use own-half fallback direction when robot is coincident with ball
  
  isaac0804
  and
  claude
  committed
  3d170b8
- feat: make StrategyRunner the single source of truth for referee geometry
  
  isaac0804
  and
  claude
  committed
  04288e5
- refactor: remove RefereeGeometry.from_standard_div_b()
  
  isaac0804
  and
  claude
  committed
  fe1c490
- refactor: rename half_defense_length → half_defense_depth in RefereeGeometry
  
  isaac0804
  and
  claude
  committed
  82051b9
Commits on Apr 15, 2026
- fix: remove dead CLEARANCE_FALLBACK_DIRECTION and fix _clear_to_legal_positions
  
  isaac0804
  and
  claude
  committed
  4869ca9
- fix: exclude PREPARE_KICKOFF/PENALTY from keep-out rule to prevent sequence resets
  
  isaac0804
  and
  claude
  committed
  d6f4f11
- Revert "fix: exclude PREPARE_KICKOFF/PENALTY from keep-out rule to prevent sequence resets"
  isaac0804
  committed
  b3a02bd
- fix: clear encroaching robots from current position, not formation target
  
  isaac0804
  and
  claude
  committed
  3bb31bc
- fix: use BALL_KEEP_OUT_DISTANCE in _ensure_outside_center_circle
  
  isaac0804
  and
  claude
  committed
  ea33066
Commits on Apr 16, 2026
- fix: address Copilot review issues in referee code and docs
  
  isaac0804
  and
  claude
  committed
  386dd94
- fix: address Copilot review issues in referee actions and tests
  
  isaac0804
  and
  claude
  committed
  ea8514b
- fix: keep RefereeRefiner properties current when deduplication skips a record
  
  isaac0804
  and
  claude
  committed
  530cd0b
- docs: rename half_defense_length → half_defense_depth in all docs
  
  isaac0804
  and
  claude
  committed
  7707973
- docs: remove non-existent exhibition.yaml from file structure
  
  isaac0804
  and
  claude
  committed
  e5f381b
Commits on May 10, 2026
- Merge branch 'main' into referee_integration
  energy-in-joles
  committed
  aceeb8e
- bug fix for pytest and add referee example in main
  energy-in-joles
  committed
  0c65a12
- fix(defense): make keeper and defender geometry radius-aware
  fred-huang122
  committed
  a54dcd8
- Fix graceful SIGINT shutdown under pixi
  fred-huang122
  committed
  4884c3f
- Update Pixi environment configuration
  fred-huang122
  committed
  8c71661
- Merge branch 'main' into fix/defence-algo
  fred-huang122
  authored
  aeaf5f6
- Fix FPP no-render path and point cycle API
  fred-huang122
  committed
  03ee40a
- Fix FPP nullable RSim env typing
  fred-huang122
  committed
  cc6e0f8
Commits on May 15, 2026
- fix: use game.ts as referee timebase instead of wall clock
  
  isaac0804
  and
  claude
  committed
  82e80a2
- fix(#107): suppress Kalman ghost tracking during robot substitution
  
  isaac0804
  and
  claude
  committed
  69b96e0
- Revert "fix(#107): suppress Kalman ghost tracking during robot substitution"
  isaac0804
  committed
  3cc2ee8
- fix: address Copilot review issues in main.py and referee tree dispatchers
  
  isaac0804
  and
  claude
  committed
  d89a3af
- fix: make DefenseAreaRule color-aware for symmetric enforcement
  
  isaac0804
  and
  claude
  committed
  2e65361
- fix: cache last RefereeData so GameFrame.referee stays populated between packets
  
  isaac0804
  and
  claude
  committed
  6db9d49
Commits on May 16, 2026
- fix: address Copilot review issues in referee tree dispatchers and penalty docstrings
  
  isaac0804
  and
  claude
  committed
  0a1e912
Commits on May 17, 2026
- fix: prevent keep-out violations and defense-area infinite loop
  
  isaac0804
  and
  claude
  committed
  60b7c52
- fix: seed _prepare_entered_time in set_command() for direct PREPARE_* commands
  
  isaac0804
  and
  claude
  committed
  b317811
Commits on May 18, 2026
- refactor: replace referee_system+custom_referee args with typed RefereeSource union
  
  isaac0804
  and
  claude
  committed
  56b20a9
- feat: add center_circle_radius to FieldDimensions
  
  isaac0804
  and
  claude
  committed
  4104b95
- refactor: replace hardcoded geometry fallbacks with STANDARD_FIELD_DIMS references
  
  isaac0804
  and
  claude
  committed
  58fd7e1
- refactor: remove dead initial_command and initial_time params from GameStateMachine
  
  isaac0804
  and
  claude
  committed
  bdbe130
- refactor: remove GameTracer from referee_integration branch
  
  isaac0804
  and
  claude
  committed
  7502472
- fix: address Copilot review issues — timebase mismatch and center_circle_radius validation
  
  isaac0804
  and
  claude
  committed
  7b95ae8
- fix: snapshot TeamInfo per packet to prevent retroactive history mutation
  
  isaac0804
  and
  claude
  committed
  d689b5d
Commits on May 19, 2026
Commits on May 20, 2026
- referee should be using FieldDimensions only
  energy-in-joles
  committed
  98e41ee
- tighten docs
  energy-in-joles
  committed
  7aae73d
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  b64e4db
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  25d660d
- update docs
  energy-in-joles
  committed
  f7b9204
Commits on May 23, 2026
- implement mapping
  energy-in-joles
  committed
  e2ce95f
- Merge branch 'main' into real_mapping
  energy-in-joles
  committed
  e446948
- remove automatic id increment
  energy-in-joles
  committed
  2c5551b
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  7d2bebf
- check for duplication of cmd ids
  energy-in-joles
  committed
  f07f01f
- prevent double saving duplicaterobot responses
  energy-in-joles
  committed
  278c940
- fix mapping logic
  energy-in-joles
  committed
  e206914
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  dbb13c9
- fix robot response pulling
  energy-in-joles
  committed
  b267ce2
- Merge branch 'real_mapping' of https://github.com/First-Order-RoboCup-SSL/Utama-Core into real_mapping
  energy-in-joles
  committed
  4c39664
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  2ed3a53
- fix unbound reference
  energy-in-joles
  committed
  7be21ba
- move self.opp
  energy-in-joles
  committed
  c804a28
- migrate mapping logic to strat runner for get_robot_responses
  energy-in-joles
  committed
  ebf7d4e
- change erro to warning
  SSL_Linux_Laptop
  committed
  8374db1
Commits on May 30, 2026
- fix: address 6 open Copilot inline review comments in real mapping
  isaac0804
  committed
  5e8ca10
- fix: follow-up review fixes in real mapping
  isaac0804
  committed
  fedda8a
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  900581b
- add test cases for new checks
  energy-in-joles
  committed
  ccf061f
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  a57f386
- Potential fix for pull request finding
  
  energy-in-joles
  and
  Copilot
  authored
  bcd1c10
Commits on May 31, 2026
- feat: per-robot IR sensor trust list with vision-proximity fallback
  
  isaac0804
  and
  claude
  committed
  fe2ddc0
- feat: leaky-bucket dribbler thermal limiter in RealRobotController
  
  isaac0804
  and
  claude
  committed
  bdae22b
- refactor: switch dribbler thermal limiter from steps to wall-clock seconds
  
  isaac0804
  and
  claude
  committed
  f81c274
- fix: warning spam, hysteresis, and heat telemetry for dribbler limiter
  
  isaac0804
  and
  claude
  committed
  f7c19d5
- feat: migrate hardware test demos and strategies from robot-hardware-tests
  
  isaac0804
  and
  claude
  committed
  9913e45
- fix: address Fred's review comments on PR #123
  
  isaac0804
  and
  claude
  committed
  f2915f5
- fix: address Fred's second-round review comments
  
  isaac0804
  and
  claude
  committed
  55aef7b
- fix: update placement strategy tests for 3x3 grid and fix arrival tolerance
  
  isaac0804
  and
  claude
  committed
  1edcad1
Commits on Jun 1, 2026
- Add public rSim scenario hooks
  fred-huang122
  committed
  bbb29a5
- Enforce blackboard contracts in behaviour setup
  fred-huang122
  committed
  d7deaf7
Commits on Jun 2, 2026
- Merge branch 'main' into fix/defence-algo
  fred-huang122
  committed
  a9c57ef
- Merge branch 'feat/llm-rsim-scenario-hooks' into fix/defence-algo
  fred-huang122
  committed
  083ac7c
- fix: track ball y with lone goalkeeper fallback
  fred-huang122
  committed
  ac72805
Commits on Jun 3, 2026
- Reset strategy on referee stoppages
  fred-huang122
  committed
  2b1d9b2
- Make out-of-bounds restarts playable
  fred-huang122
  committed
  82ae188
- Use startup strategy in core demo
  fred-huang122
  committed
  e8dc8b9
- feat: muted colour palette and grouped ghost-style buttons in GUI
  isaac0804
  committed
  35d8545
- Revert "feat: muted colour palette and grouped ghost-style buttons in GUI"
  isaac0804
  committed
  4d34d06
- Revert "feat: redesign GUI to 2x2 quadrant layout with field filling top-left"
  isaac0804
  committed
  0b1de08
- feat: restore 2x2 quadrant layout with original colour scheme
  isaac0804
  committed
  adc046a
- feat: add goal_depth to FieldDimensions and propagate to RefereeGeometry and RSim renderer
  isaac0804
  committed
  63c2744
- feat: add ball placement entry point, strategy skeleton, and tests
  
  isaac0804
  and
  claude
  committed
  6a58139
- fix: finish the ball_placement
  
  NingchuanIC
  authored and
  isaac0804
  committed
  cd413fd
- init demp
  
  NingchuanIC
  authored and
  isaac0804
  committed
  b5b74df
- take the free kick
  
  NingchuanIC
  authored and
  isaac0804
  committed
  f3e8233
- success sow the demo
  
  NingchuanIC
  authored and
  isaac0804
  committed
  6c2c746
- finish the ball placement
  
  NingchuanIC
  authored and
  isaac0804
  committed
  8b40db6
- test: tighten ball placement rsim tests and add placer selection coverage
  
  isaac0804
  and
  claude
  committed
  855da02
- feat: add god mode to referee GUI for manual ball placement testing
  
  isaac0804
  and
  claude
  committed
  b7124d3
- fix: update direct free kick tests broken by ball-placement-first routing
  
  isaac0804
  and
  claude
  committed
  3544775
- feat: pivot around ball using turn_on_spot during ball placement carry
  
  isaac0804
  and
  claude
  committed
  2d1c7f6
- fix: address 4 P2 review comments from fred
  
  isaac0804
  and
  claude
  committed
  b664c73
- fix: test_placer_moves_toward_designated_position robot start position
  
  isaac0804
  and
  claude
  committed
  96a1660
- fix: address 2 new P2 review comments from fred
  
  isaac0804
  and
  claude
  committed
  f6edabe
- Add vision-to-firmware ID mapping to demo_ball_placement_real
  isaac0804
  committed
  b503908
- fix: approach ball with back facing it for back-mounted kicker
  isaac0804
  committed
  9fe7852
- Filter vision detections to roster defined by vision→cmd mapping
  isaac0804
  committed
  1fa9dbc
Commits on Jun 4, 2026

Commits

Commits on Nov 26, 2025

Commits on Feb 18, 2026

Commits on Mar 13, 2026

Commits on Mar 29, 2026

Commits on Mar 31, 2026

Commits on Apr 3, 2026

Commits on Apr 7, 2026

Commits on Apr 8, 2026

Commits on Apr 14, 2026

Commits on Apr 15, 2026

Commits on Apr 16, 2026

Commits on May 10, 2026

Commits on May 15, 2026

Commits on May 16, 2026

Commits on May 17, 2026

Commits on May 18, 2026

Commits on May 19, 2026

Commits on May 20, 2026

Commits on May 23, 2026

Commits on May 30, 2026

Commits on May 31, 2026

Commits on Jun 1, 2026